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Autonomous positioning method of end effector of under-constraint cable-driven parallel robot

An end effector and autonomous positioning technology, which is applied in the direction of instruments, manipulators, program-controlled manipulators, etc., to achieve the effects of expanding the application range, realizing vibration suppression control, and improving measurement accuracy

Active Publication Date: 2020-03-06
BEIHANG UNIV
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Problems solved by technology

[0005] In view of this, the present invention provides an autonomous positioning method for the end effector of an under-constrained cable parallel robot to solve the problem of positioning accuracy of the end effector of an under-constrained cable parallel robot in a low-cost and complex environment

Method used

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  • Autonomous positioning method of end effector of under-constraint cable-driven parallel robot

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Embodiment 1

[0056] 1. Principle and Construction Method of Factor Graph Algorithm

[0057] Let x denote the state variable of the end effector, x i Indicates that the end effector at t i state of the moment. The set of all state variables defining the end effector is X k , X k Expressed as:

[0058]

[0059] Since there are other sensors, the definition from the initial moment to t k The set of all state variables of all end effectors and sensors obtained at any time is V k . will t i The measurement value obtained at time is defined as z i , will be from the initial moment to t k All measurements obtained at time instants are defined as Z k ,Z k Expressed as:

[0060]

[0061] On the basis of the above definition, when the known measured value is Z k The posterior probability joint probability distribution function of the reliability of sensor state variables can be defined as p(V k |Z k ). According to the prior information of the system, the state variables of dif...

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Abstract

The invention discloses an autonomous positioning method of an end effector of an under-constraint cable-driven parallel robot. A PCF algorithm is combined with a factor graph algorithm, the positionof the end effector is accurately positioned under the condition of not relying on external signal input by using a multi-sensor data fusion technology, the IMU inertial sensor data is processed by using a PCF method, and the posture of the end effector of the under-constraint cable-driven parallel robot is accurately obtained, and meanwhile, the measurement precision of the position of the end effector is improved; and moreover, the selected sensor is a low-cost IMU, a dynamometer, a motor tachometer and the like, and the low-cost can be realized while the same positioning precision of the end effector is achieved. According to the autonomous positioning method, the problem of the positioning accuracy of the end effector of the under-constraint cable-driven parallel robot at the low costand complex environment can be solved, oscillation suppression control of the under-constraint cable-driven parallel robot is realized, and the application range of the under-constraint cable-driven parallel robot is expanded.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an autonomous positioning method for an end effector of an under-constrained cable parallel robot. Background technique [0002] As a direction in the field of robotics, Cable-Driven Parallel Robots (CDPR, Cable-Driven Parallel Robots) has received more and more attention in the fields of research and engineering in recent years due to its unique structural characteristics. Compared with parallel-driven robots with similar structures, the fundamental difference of the cable parallel robot is that the cable can only pull the end effector, but not push the end effector. The cable parallel robot has the following advantages: (1) large working space; (2) flexible system deployment; (3) high operating speed; (4) strong load capacity; (5) wide application range. [0003] Cable parallel robots can be divided into fully constrained and underconstrained. A cable parallel robot with...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G01C21/16
CPCB25J9/1605B25J9/1661B25J9/1664G01C21/165
Inventor 富立李岱伟王玲玲
Owner BEIHANG UNIV
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